/*
 * Copyright (C) 2009
 * Robert Bosch LLC
 * Research and Technology Center North America
 * Palo Alto, California
 *
 * All rights reserved.
 *
 *------------------------------------------------------------------------------
 * project ....: Autonomous Technologies
 * file .......: rtcVec4.h
 * authors ....: Benjamin Pitzer
 * organization: Robert Bosch LLC
 * creation ...: 08/16/2006
 * modified ...: $Date: 2009-01-21 18:19:16 -0800 (Wed, 21 Jan 2009) $
 * changed by .: $Author: benjaminpitzer $
 * revision ...: $Revision: 14 $
 */
#ifndef RTC_VEC4_H
#define RTC_VEC4_H

//== INCLUDES ==================================================================
#include "rtcMath.h"
#include "rtcVec.h"

//== NAMESPACES ================================================================
namespace rtc {

// Forward declarations
template <class T, int M> class Vec; // M-d vector
template <class T> class Vec4; // 4d Vector

/**
 * A 4-D vector.
 */
template <class T>
class Vec4: public Vec<T,4> {
public:
  // inherit member data and functions of parent
  using Vec<T,4>::x;
  using Vec<T,4>::set;

  // Constructors
  Vec4();
  Vec4(const T* d);
  Vec4(const T a);
  Vec4(const T x0, const T x1, const T x2, const T x3);
  Vec4(const Vec<T,4>& v);

  // Cast Operation
  template <class U> Vec4(const Vec<U,4>& v);

  // Mutators
  void set(const T x0, const T x1, const T x2, const T x3);
};

// Declare a few common typdefs
typedef Vec4<bool> Vec4b;
typedef Vec4<signed char> Vec4c;
typedef Vec4<unsigned char> Vec4uc;
typedef Vec4<signed short int> Vec4s;
typedef Vec4<unsigned short int> Vec4us;
typedef Vec4<int> Vec4i;
typedef Vec4<unsigned int> Vec4ui;
typedef Vec4<float> Vec4f;
typedef Vec4<double> Vec4d;

//==============================================================================
// Vec4<T>
//==============================================================================

// Constructors

/** Ctor that doesn't initialize.
 */
template <class T>
inline Vec4<T>::Vec4() {}

/** Ctor that intalizes from array.
 */
template <class T>
inline Vec4<T>::Vec4(const T* d) : Vec<T,4>(d) {}

/** Ctor that intalizes all elements from a scalar.
 */
template <class T>
inline Vec4<T>::Vec4(const T a) : Vec<T,4>(a) {}

/** Ctor that initializes vector with given values.
 */
template <class T>
inline Vec4<T>::Vec4(const T x0, const T x1,
         const T x2, const T x3) {
  set(x0,x1,x2,x3);
}

/** Ctor that initializes an Vec4<T> with an Vec<T,4>.
 */
template <class T>
inline Vec4<T>::Vec4(const Vec<T,4>& v) : Vec<T,4>(v) {}

// Casting Operation

/** Casting Ctor that initializes an Vec4<T> with a Vec<U,4>.
 */
template <class T> template <class U>
inline Vec4<T>::Vec4(const Vec<U,4>& v) : Vec<T,4>(v) {}

// Mutators

/** Set vector.
 */
template <class T>
inline void Vec4<T>::set(const T x0, const T x1,
       const T x2, const T x3) {
  x[0] = x0; x[1] = x1; x[2] = x2; x[3] = x3;
}

//==============================================================================
} // NAMESPACE puma
//==============================================================================
#endif // RTC_VEC4_H defined
//==============================================================================